MIAMI -- Two bodies pulled from Florida's Biscayne Bay likely are those of a missing father and daughter whose boat was found empty, say Miami-Dade authorities.

Phil Burke, 49, and his 8-year-old daughter, Tara Ann, set out Sunday afternoon from Black Point Marina in the family's 17-foot boat, telling family members they would return before dark, The Miami Herald reported Tuesday.

Their boat was found floating upright in mangroves, life jackets inside, Monday morning, said search spokesman Jorge Pino.

"The boat was in good condition, no signs of a collision,'' said Pino.

Monday afternoon, a passing boater spotted what was believed to be Phil Burke's body. Hours later, a U.S. Coast Guard boat found the body believed to be Burke's daughter, the Herald reported.

A massive air and sea search was canceled after the bodies were found, the Herald reported, noting official identification of the bodies had yet to be made.